A method for determining a vehicle attitude of UNS-IENS based on a single antenna

摘要

A method for determining the attitude of a GNSS-INS vehicle based on a single antenna, the method comprising: mounting a GNSS antenna at the center of a vehicle, and mounting an IMU measuring unit of a MEMS sensor to a steering shaft of the vehicle; Obtaining position and speed information of the vehicle by the GNSS antenna and obtaining heading angular velocity information of the vehicle by the IMU measuring unit; Calculating a posture angle of the vehicle by a combination of an accelerometer and a gyroscope; Calculating a heading angle of the vehicle based on the position, the speed and the heading angular velocity of the vehicle. By combining a single antenna GNSS with an IMU / MEMS sensor at low cost, attitude and orientation are determined based on the kinematic model of the agricultural machine. This method combines the advantages of the short-term high precision of an IMU gyroscope with the long-term high stability of a GNSS single antenna, preventing the divergence of the gyroscope and the noise of the GNSS attitude determination. Decreases the level. Therefore, the accuracy of attitude determination can be increased several times.